forked from Archive/PX4-Autopilot
68 lines
2.3 KiB
Python
68 lines
2.3 KiB
Python
#!/usr/bin/env python
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'''
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set stream rate on an APM
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'''
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import sys, struct, time, os
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# allow import from the parent directory, where mavlink.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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from optparse import OptionParser
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parser = OptionParser("apmsetrate.py [options]")
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parser.add_option("--baudrate", dest="baudrate", type='int',
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help="master port baud rate", default=115200)
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parser.add_option("--device", dest="device", default=None, help="serial device")
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parser.add_option("--rate", dest="rate", default=4, type='int', help="requested stream rate")
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parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
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default=255, help='MAVLink source system for this GCS')
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parser.add_option("--showmessages", dest="showmessages", action='store_true',
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help="show incoming messages", default=False)
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parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
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(opts, args) = parser.parse_args()
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if opts.mav10:
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os.environ['MAVLINK10'] = '1'
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import mavlink10 as mavlink
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else:
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import mavlink
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import mavutil
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if opts.device is None:
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print("You must specify a serial device")
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sys.exit(1)
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def wait_heartbeat(m):
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'''wait for a heartbeat so we know the target system IDs'''
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print("Waiting for APM heartbeat")
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m.wait_heartbeat()
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print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
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def show_messages(m):
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'''show incoming mavlink messages'''
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while True:
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msg = m.recv_match(blocking=True)
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if not msg:
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return
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if msg.get_type() == "BAD_DATA":
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if mavutil.all_printable(msg.data):
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sys.stdout.write(msg.data)
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sys.stdout.flush()
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else:
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print(msg)
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# create a mavlink serial instance
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master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
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# wait for the heartbeat msg to find the system ID
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wait_heartbeat(master)
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print("Sending all stream request for rate %u" % opts.rate)
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for i in range(0, 3):
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master.mav.request_data_stream_send(master.target_system, master.target_component,
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mavlink.MAV_DATA_STREAM_ALL, opts.rate, 1)
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if opts.showmessages:
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show_messages(master)
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